Research On Control System Of Wheeled Hopping Robot

Hopping robot can jump over barriers several times than its own size, and has stronger adaptability to unknown terrain than a traditional mobile robot. The energy utilization rate is improved and the scope of robot's activities is enhanced with the combination of hopping and wheeled moving. It has a very important value for research and application.The fuel gas-actuated hopping structure and electricity- actuated wheeled mobile structure are combined by hopping mobile robot, some researches are done in terms of software, hardware, and vision system. The main work includes as below:1) The functions of hopping mobile robot are introduced, and the whole scheme of robot control system is designed in this paper. The hardware system of upper computer and lower computer is designed which is based on MSP430F169, the control system includes hopping control module, wheeled mobile module, data collection module and wireless control module.2) According to the control requirements of hopping mobile robot, the software system is designed, which realizes the wireless communication among PC, remote device and robot body. The hopping action and the wheeled mobile action can be control through operator interface. Hopping experiments and wheeled mobile experiments show the reliability of control system, hoping actions and wheeled mobile actions can be realized.3) Study the behavior control to achieve robot walks independently by sonar sensors, and analyze the controlling strategies in different behaviors. The semi-autonomous control and autonomous control can be realized through it.4) On the basis of commonly used regional division of gray level-average gray level two-dimensional histogram, the formulas for threshold selection of maximum entropy based on the improved two-dimensional histogram regional division were derived. The particle swarm algorithm was used to search the best threshold. A recursion method was used in iteration to greatly reduce the repeat computations of fitness function. Mobile trajectories are created according to segmentation results, which can be used in visual navigation.